Biomimetic locomotion for a robotic stingray using MEMS sensors

M. Asadnia, A. G P Kottapalli, A. Cloitre, R. Haghighi, M. Triantafyllou, J. Miao

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

Abstract

In this paper, we present the design, fabrication and experimental results of two types of MEMS sensors for manoeuvring and control of a robotic stingray. The first sensor is a piezoresistive liquid crystal polymer haircell flow sensor which is employed to determine the velocity of propagation of the stingray. The second sensor is a Pb(Zr0.52Ti0.48)O3 piezoelectric micro-diaphragm pressure sensor which measures various flapping profiles of the stingray's fins which are keys parameters to control the robot locomotion. The piezoelectric sensors show an excellent performance in tracking the trajectory of the fins of the stingray. Although a robotic stingray is used as a platform to emphasize the role of the MEMS sensors, the applications can be extended to most underwater robotic vehicles (URVs).

Original languageEnglish
Title of host publication2015 Transducers - 2015 18th International Conference on Solid-State Sensors, Actuators and Microsystems, TRANSDUCERS 2015
Place of PublicationPicataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages831-834
Number of pages4
ISBN (Electronic)9781479989553
DOIs
Publication statusPublished - 5 Aug 2015
Externally publishedYes
Event18th International Conference on Solid-State Sensors, Actuators and Microsystems, TRANSDUCERS 2015 - Anchorage, United States
Duration: 21 Jun 201525 Jun 2015

Other

Other18th International Conference on Solid-State Sensors, Actuators and Microsystems, TRANSDUCERS 2015
CountryUnited States
CityAnchorage
Period21/06/1525/06/15

Keywords

  • MEMS flow sensor
  • MEMS pressure sensor
  • unmanned underwater vehicles

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